Build Vision:

I came across the channel HowToMechatronics and became interested when I saw his design of the cycloidal drive. I was immediately sold and started making one when I learned that cycloidal drives were backdrivable with virtually no backlash. They are both compact and produce high torque and are perfect for robot arm applications. I thought the gears based on cycloids were amazing and wanted to try developing a cycloidal drive myself. 

After watching a few more videos, I came across another channel RoTechnic where he covered designing a cycloidal drive using python and scripts in Fusion 360 and I was all set to tackle the actuators after finding RoTechnic's python code.

The goal of with these actuators is to design them with as minimal components as possible, minimal complexity as possible, to use readily available components, and to be as cost effective as possible. I believe I have achieved this goal with my design.

Main Components:

• PETG Filament

• M3 Nuts and Screws

• 6803-2Rs Deep Groove Ball Bearings: 17x26x5 mm, 6708ZZ Deep Groove Ball Bearings: 40x50x6 mm

Build Process/Design:

Following RoTechnic's video to design cycloidal drives, I was able to use his python code to generate my own cycloidal discs with the parameters that I wanted. In my case, I chose 23:1 and 15:1 ratios for very specific reasons:

1. The 23:1 cycloidal drive uses 24 pins while the 15:1 cycloidal drive uses 16 pins; Since 24 and 16 are both divisible by 8, I had perfect spacing for using 8 screws to secure the top cover of both cycloidal drive actuators. Previous cycloidal drives I had made had an odd number of screws to secure the cover plate. 

2. I bought 40 pieces of 4 mm diameter steel pins, which maximizes the cycloidal disc gear ratio while staying within 40 pins spread across 2 cycloidal drives. The 23:1 cycloidal drive uses 24 pins while the 15:1 cycloidal drive uses 16 pins, which is exactly 40 pins total. 

Cycloidal Drive Design Parameters:

To design a cycloidal drive, the parameters need to be calculated in order to generate a cycloidal disc.